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enableAntistiction must not be optional as it prevents the ACS ctrl from sending invalid speed cmds

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This commit is contained in:
Marius Eggert
2024-01-27 10:45:00 +01:00
parent 315365921e
commit 772e8f1149
3 changed files with 24 additions and 48 deletions
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61
mission/controller/acs/AcsParameters.cpp
View File

@ -432,9 +432,6 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(idleModeControllerParameters.desatOn);
break;
case 0x9:
parameterWrapper->set(idleModeControllerParameters.enableAntiStiction);
break;
case 0xA:
parameterWrapper->set(idleModeControllerParameters.useMekf);
break;
default:
@ -471,42 +468,39 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(targetModeControllerParameters.desatOn);
break;
case 0x9:
parameterWrapper->set(targetModeControllerParameters.enableAntiStiction);
break;
case 0xA:
parameterWrapper->set(targetModeControllerParameters.useMekf);
break;
case 0xB:
case 0xA:
parameterWrapper->setVector(targetModeControllerParameters.refDirection);
break;
case 0xC:
case 0xB:
parameterWrapper->setVector(targetModeControllerParameters.refRotRate);
break;
case 0xD:
case 0xC:
parameterWrapper->setVector(targetModeControllerParameters.quatRef);
break;
case 0xE:
case 0xD:
parameterWrapper->set(targetModeControllerParameters.timeElapsedMax);
break;
case 0xF:
case 0xE:
parameterWrapper->set(targetModeControllerParameters.latitudeTgt);
break;
case 0x10:
case 0xF:
parameterWrapper->set(targetModeControllerParameters.longitudeTgt);
break;
case 0x11:
case 0x10:
parameterWrapper->set(targetModeControllerParameters.altitudeTgt);
break;
case 0x12:
case 0x11:
parameterWrapper->set(targetModeControllerParameters.avoidBlindStr);
break;
case 0x13:
case 0x12:
parameterWrapper->set(targetModeControllerParameters.blindAvoidStart);
break;
case 0x14:
case 0x13:
parameterWrapper->set(targetModeControllerParameters.blindAvoidStop);
break;
case 0x15:
case 0x14:
parameterWrapper->set(targetModeControllerParameters.blindRotRate);
break;
default:
@ -543,24 +537,21 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(gsTargetModeControllerParameters.desatOn);
break;
case 0x9:
parameterWrapper->set(gsTargetModeControllerParameters.enableAntiStiction);
break;
case 0xA:
parameterWrapper->set(gsTargetModeControllerParameters.useMekf);
break;
case 0xB:
case 0xA:
parameterWrapper->setVector(gsTargetModeControllerParameters.refDirection);
break;
case 0xC:
case 0xB:
parameterWrapper->set(gsTargetModeControllerParameters.timeElapsedMax);
break;
case 0xD:
case 0xC:
parameterWrapper->set(gsTargetModeControllerParameters.latitudeTgt);
break;
case 0xE:
case 0xD:
parameterWrapper->set(gsTargetModeControllerParameters.longitudeTgt);
break;
case 0xF:
case 0xE:
parameterWrapper->set(gsTargetModeControllerParameters.altitudeTgt);
break;
default:
@ -597,21 +588,18 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(nadirModeControllerParameters.desatOn);
break;
case 0x9:
parameterWrapper->set(nadirModeControllerParameters.enableAntiStiction);
break;
case 0xA:
parameterWrapper->set(nadirModeControllerParameters.useMekf);
break;
case 0xB:
case 0xA:
parameterWrapper->setVector(nadirModeControllerParameters.refDirection);
break;
case 0xC:
case 0xB:
parameterWrapper->setVector(nadirModeControllerParameters.quatRef);
break;
case 0xD:
case 0xC:
parameterWrapper->setVector(nadirModeControllerParameters.refRotRate);
break;
case 0xE:
case 0xD:
parameterWrapper->set(nadirModeControllerParameters.timeElapsedMax);
break;
default:
@ -648,18 +636,15 @@ ReturnValue_t AcsParameters::getParameter(uint8_t domainId, uint8_t parameterId,
parameterWrapper->set(inertialModeControllerParameters.desatOn);
break;
case 0x9:
parameterWrapper->set(inertialModeControllerParameters.enableAntiStiction);
break;
case 0xA:
parameterWrapper->set(inertialModeControllerParameters.useMekf);
break;
case 0xB:
case 0xA:
parameterWrapper->setVector(inertialModeControllerParameters.tgtQuat);
break;
case 0xC:
case 0xB:
parameterWrapper->setVector(inertialModeControllerParameters.refRotRate);
break;
case 0xD:
case 0xC:
parameterWrapper->setVector(inertialModeControllerParameters.quatRef);
break;
default:

1
mission/controller/acs/AcsParameters.h
View File

@ -863,7 +863,6 @@ class AcsParameters : public HasParametersIF {
double desatMomentumRef[3] = {0, 0, 0};
double deSatGainFactor = 1000;
uint8_t desatOn = true;
uint8_t enableAntiStiction = true;
uint8_t useMekf = false;
} pointingLawParameters;